holistic_fusion::ImuBuffer Class Reference

#include <ImuBuffer.hpp>

Public Member Functions
	ImuBuffer (const std::shared_ptr< GraphConfig > graphConfigPtr)
	~ImuBuffer ()=default
Eigen::Matrix< double, 6, 1 >	addToImuBuffer (double ts, const Eigen::Vector3d &linearAcc, const Eigen::Vector3d &angularVel)
void	addToKeyBuffer (double ts, gtsam::Key key)
double	getImuRate () const
double	getLatestTimestampInBuffer ()
bool	getImuMeasurementAtTime (holistic_fusion::ImuMeasurement &returnedImuMeasurement, const double ts)
void	getLastTwoMeasurements (TimeToImuMap &imuMap)
bool	getClosestKeyAndTimestamp (double &tInGraph, gtsam::Key &key, const std::string &callingName, const double maxSearchDeviation, const double tLidar)
bool	estimateAttitudeFromImu (gtsam::Rot3 &initAttitude, double &gravityMagnitude, Eigen::Vector3d &gyrBias)
	Determine initial IMU pose w.r.t to gravity vector pointing up.
bool	getIMUBufferIteratorsInInterval (const double tsStart, const double tsEnd, TimeToImuMap::iterator &startIterator, TimeToImuMap::iterator &endIterator)
bool	getClosestImuMeasurement (double &returnedImuTimestamp, ImuMeasurement &returnedImuMeasurement, const double maxSearchDeviation, const double tK)
gtsam::NavState	integrateNavStateFromTimestamp (const double &tsStart, const double &tsEnd, const gtsam::NavState &stateStart, const gtsam::imuBias::ConstantBias &imuBias, const Eigen::Vector3d &W_gravityVector)

Private Attributes
TimeToImuMap	timeToImuBuffer_
double	imuRate_ = 100
int	imuBufferLength_ = -1
double	imuPoseInitWaitSecs_ = 1.0
int	verboseLevel_ = 0
double	tLatestInBuffer_ = 0.0
std::mutex	writeInBufferMutex_
bool	useImuSignalLowPassFilter_
std::unique_ptr< ImuSignalLowPassFilter >	imuSignalLowPassFilterPtr_

Detailed Description

Definition at line 38 of file ImuBuffer.hpp.

Constructor & Destructor Documentation

ImuBuffer()

holistic_fusion::ImuBuffer::ImuBuffer

(

const std::shared_ptr< GraphConfig >

graphConfigPtr

)

Definition at line 23 of file ImuBuffer.cpp.

~ImuBuffer()

holistic_fusion::ImuBuffer::~ImuBuffer ( )

default

Member Function Documentation

addToImuBuffer()

Eigen::Matrix< double, 6, 1 > holistic_fusion::ImuBuffer::addToImuBuffer	(	double	ts,
		const Eigen::Vector3d &	linearAcc,
		const Eigen::Vector3d &	angularVel )

Definition at line 40 of file ImuBuffer.cpp.

addToKeyBuffer()

void holistic_fusion::ImuBuffer::addToKeyBuffer	(	double	ts,
		gtsam::Key	key )

estimateAttitudeFromImu()

bool holistic_fusion::ImuBuffer::estimateAttitudeFromImu	(	gtsam::Rot3 &	initAttitude,
		double &	gravityMagnitude,
		Eigen::Vector3d &	gyrBias )

Determine initial IMU pose w.r.t to gravity vector pointing up.

Definition at line 114 of file ImuBuffer.cpp.

getClosestImuMeasurement()

bool holistic_fusion::ImuBuffer::getClosestImuMeasurement	(	double &	returnedImuTimestamp,
		ImuMeasurement &	returnedImuMeasurement,
		const double	maxSearchDeviation,
		const double	tK )

Definition at line 212 of file ImuBuffer.cpp.

getClosestKeyAndTimestamp()

bool holistic_fusion::ImuBuffer::getClosestKeyAndTimestamp	(	double &	tInGraph,
		gtsam::Key &	key,
		const std::string &	callingName,
		const double	maxSearchDeviation,
		const double	tLidar )

getIMUBufferIteratorsInInterval()

bool holistic_fusion::ImuBuffer::getIMUBufferIteratorsInInterval	(	const double	tsStart,
		const double	tsEnd,
		TimeToImuMap::iterator &	startIterator,
		TimeToImuMap::iterator &	endIterator )

Definition at line 158 of file ImuBuffer.cpp.

getImuMeasurementAtTime()

bool holistic_fusion::ImuBuffer::getImuMeasurementAtTime	(	holistic_fusion::ImuMeasurement &	returnedImuMeasurement,
		const double	ts )

Definition at line 92 of file ImuBuffer.cpp.

getImuRate()

double holistic_fusion::ImuBuffer::getImuRate ( ) const

inline

Definition at line 51 of file ImuBuffer.hpp.

getLastTwoMeasurements()

void holistic_fusion::ImuBuffer::getLastTwoMeasurements

(

TimeToImuMap &

imuMap

)

Definition at line 105 of file ImuBuffer.cpp.

getLatestTimestampInBuffer()

double holistic_fusion::ImuBuffer::getLatestTimestampInBuffer

(

)

Definition at line 86 of file ImuBuffer.cpp.

integrateNavStateFromTimestamp()

gtsam::NavState holistic_fusion::ImuBuffer::integrateNavStateFromTimestamp	(	const double &	tsStart,
		const double &	tsEnd,
		const gtsam::NavState &	stateStart,
		const gtsam::imuBias::ConstantBias &	imuBias,
		const Eigen::Vector3d &	W_gravityVector )

Definition at line 251 of file ImuBuffer.cpp.

Member Data Documentation

imuBufferLength_

int holistic_fusion::ImuBuffer::imuBufferLength_ = -1

private

Definition at line 78 of file ImuBuffer.hpp.

imuPoseInitWaitSecs_

double holistic_fusion::ImuBuffer::imuPoseInitWaitSecs_ = 1.0

private

Definition at line 79 of file ImuBuffer.hpp.

imuRate_

double holistic_fusion::ImuBuffer::imuRate_ = 100

private

Definition at line 77 of file ImuBuffer.hpp.

imuSignalLowPassFilterPtr_

std::unique_ptr<ImuSignalLowPassFilter> holistic_fusion::ImuBuffer::imuSignalLowPassFilterPtr_

private

Definition at line 86 of file ImuBuffer.hpp.

timeToImuBuffer_

TimeToImuMap holistic_fusion::ImuBuffer::timeToImuBuffer_

private

Definition at line 76 of file ImuBuffer.hpp.

tLatestInBuffer_

double holistic_fusion::ImuBuffer::tLatestInBuffer_ = 0.0

private

Definition at line 81 of file ImuBuffer.hpp.

useImuSignalLowPassFilter_

bool holistic_fusion::ImuBuffer::useImuSignalLowPassFilter_

private

Definition at line 83 of file ImuBuffer.hpp.

verboseLevel_

int holistic_fusion::ImuBuffer::verboseLevel_ = 0

private

Definition at line 80 of file ImuBuffer.hpp.

writeInBufferMutex_

std::mutex holistic_fusion::ImuBuffer::writeInBufferMutex_

private

Definition at line 82 of file ImuBuffer.hpp.

---

The documentation for this class was generated from the following files:

• holistic_fusion/include/holistic_fusion/imu/ImuBuffer.hpp
• holistic_fusion/src/lib/ImuBuffer.cpp